Hot device indication of video display

ABSTRACT

A surgical system includes a first detector that includes a first array of pixels configured to detect light reflected by a surgical instrument and generate a first signal comprising a first dataset representative of a visible image of the surgical instrument. The surgical system also includes a second detector, comprising a second array of pixels configured to detect infrared radiation produced by the surgical instrument during a procedure using the surgical instrument and generate a second signal comprising a second dataset representative of an infrared image of the surgical instrument. The surgical system further includes a processor configured to receive the first and second signals, identify from the first dataset data representative of the surgical instrument, and identify from the second dataset data representative of one or more regions of the surgical instrument above a predetermined threshold temperature. The processor is also configured to generate a modified image of the surgical instrument based on data identified from the first and second dataset. The modified image includes visible indicia in the one or more region of the surgical instrument at or above the predetermined temperature.

CROSS-REFERENCE IO RELATED APPLICATIONS

The present application is a divisional of U.S. patent application Ser.No. 15/383,068 entitled “Hot Device Indication of Video Display” filedDec. 19, 2016, which is hereby incorporated by reference in itsentirety.

FIELD

Methods and devices are provided for minimally invasive surgery, and inparticular for providing real-time information regarding the status of asurgical instrument.

BACKGROUND

Minimally invasive surgical (MIS) instruments are often preferred overtraditional open surgical devices due to the reduced post-operativerecovery time and minimal scarring. Laparoscopic surgery is one type ofMIS procedure in which one or more small incisions are formed in theabdomen and a trocar is inserted through the incision to form a pathwaythat provides access to the abdominal cavity. The trocar is used tointroduce various instruments and tools into the abdominal cavity, aswell as to provide insufflation to elevate the abdominal wall above theorgans. The instruments and tools can be used to engage and/or treattissue in a number of ways to achieve a diagnostic or therapeuticeffect. Endoscopic surgery is another type of MIS procedure in whichelongate flexible shafts are introduced into the body through a naturalorifice.

Although traditional minimally invasive surgical instruments andtechniques have proven highly effective, newer systems may provide evenfurther advantages. For example, traditional minimally invasive surgicalinstruments often deny the surgeon the flexibility of tool placementfound in open surgery. Difficulty is experienced in approaching thesurgical site with the instruments through the small incisions.Additionally, the added length of typical endoscopic instruments oftenreduces the surgeon's ability to feel forces exerted by tissues andorgans on the end effector. Furthermore, coordination of the movement ofthe end effector of the instrument as viewed in the image on thetelevision monitor with actual end effector movement is particularlydifficult, since the movement as perceived in the image normally doesnot correspond intuitively with the actual end effector movement.Accordingly, lack of intuitive response to surgical instrument movementinput is often experienced. Such a lack of intuitiveness, dexterity, andsensitivity of endoscopic tools has been found to be an impediment inthe increased the use of minimally invasive surgery.

Over the years a variety of minimally invasive robotic systems have beendeveloped to increase surgical dexterity as well as to permit a surgeonto operate on a patient in an intuitive manner. Telesurgery is a generalterm for surgical operations using systems where the surgeon uses someform of remote control, e.g., a servomechanism, or the like, tomanipulate surgical instrument movements, rather than directly holdingand moving the tools by hand. In such a telesurgery system, the surgeonis typically provided with an image of the surgical site on a visualdisplay at a location remote from the patient. The surgeon can typicallyperform the surgical procedure at the location remote from the patientwhilst viewing the end effector movement on the visual display duringthe surgical procedure. While viewing typically a three-dimensionalimage of the surgical site on the visual display, the surgeon performsthe surgical procedures on the patient by manipulating master controldevices at the remote location, which master control devices controlmotion of the remotely controlled instruments.

While significant advances have been made in the field of minimallyinvasive surgery, there remains a need for improved methods, systems,and devices for real-time monitoring of the temperature of surgicalinstruments in the abdominal cavity.

SUMMARY

Methods, devices, and systems are provided for displaying electricalpathways in end effectors of surgical tools. In one aspect, a surgicaltool is provided that includes an elongate shaft and an end effector ata distal end thereof. The end effector has one or more electrodes, atleast one of which is configured to have energy pass therethrough. Thesystem is configured to display the status of the electrodes of the endeffector (e.g., a relative temperature indication) during a surgicalprocedure.

In one embodiment, a surgical system includes a first detector thatincludes a first array of pixels configured to detect visible lightreflected by a surgical instrument and generate a first signalcomprising a first dataset representative of a visible image of thesurgical instrument. The surgical system also includes a seconddetector, comprising a second array of pixels configured to detectinfrared radiation produced by the surgical instrument during aprocedure using the surgical instrument and generate a second signalcomprising a second dataset representative of an infrared image of thesurgical instrument. The surgical system further includes a processorconfigured to receive the first and second signals, identify from thefirst dataset data representative of the surgical instrument, andidentify from the second dataset data representative of one or moreregions of the surgical instrument above a predetermined thresholdtemperature. The processor is also configured to generate a modifiedimage of the surgical instrument based on data identified from the firstand second dataset. The modified image includes visible indicia in theone or more regions of the surgical instrument at or above thepredetermined temperature.

The surgical system can vary in a number of ways. The surgical systemcan include an optical element configured to direct the visible lightreflected by the surgical instrument to the first detector and theinfrared radiation produced by the surgical instrument to the seconddetector. The optical element can, for example, be a prism system. Thesurgical system can include a lens to direct the visible light reflectedby the surgical instrument and the infrared radiation produced by thesurgical instrument to the optical element.

In one embodiment, the processor identifies data representative of thesurgical instrument based on position of the first detector with respectto the surgical instrument and information representative of one or moresurgical instruments stored in a database. In another embodiment, theprocessor determines orientation of the surgical instrument based on theidentified data representative of the surgical instrument and a databaseof one or more surgical instruments stored in memory.

In one embodiment, the surgical instrument includes one or more markers,each of the one or more markers configured to reflect a predeterminedfrequency of light. In another embodiment, the processor identifies fromthe first dataset data representative of the surgical instrument throughan image recognition algorithm based on location of the one or moremarkers.

In one embodiment, the processor determines orientation of the surgicalinstrument based on the identified data representative of the surgicalinstrument. In another embodiment the processor identifies from thesecond dataset data representative of one or more regions of thesurgical instrument above the predetermined threshold temperature basedon the frequency of the infrared radiation produced by the one or moreregions of the surgical instrument. For example, the predeterminedthreshold temperature is about 50° C.

In one embodiment, the frequency of the infrared radiation is at orabove a threshold frequency. The threshold frequency and the thresholdtemperature are related by one or more emissivity parameters associatedwith the surgical instrument. In another embodiment, the modified imageis generated based on position of the first detector with respect to thesecond detector.

In one embodiment, the surgical instrument includes an energy deliveringend effector configured to deliver at least one of ultrasonic energy andradio frequency energy to a tissue. In another embodiment, the surgicalsystem includes a display device to display the modified image.

In one embodiment, the surgical system is a robotic surgical system andthe robotic surgical system includes at least one robotic arm configuredto hold and manipulate the surgical instrument. In another embodiment,the visible indicia include pixels of a distinct color in the modifiedimage that represent a temperature value at or above the predeterminedthreshold temperature. For example, the color is red.

In one embodiment, a robotic surgical system includes a robotic arm, atool assembly removably coupled to the robotic arm. The tool assemblyincludes a shaft extending distally from a housing and an end effectorcoupled to a distal end of the shaft, the end effector being configuredto deliver energy to tissue for the treatment thereof. The roboticsurgical system also includes a camera system configured to capturevisible light reflected by at least one of the end effector and theshaft and capture infrared light produced by at least one of the endeffector and the shaft. The robotic surgical system further includes aprocessor configured to receive signals representative of the visibleand the infrared light and to identify one or more regions of the endeffector and the shaft having a temperature in excess of a predeterminedthreshold temperature.

The surgical robotic system can vary in a number of ways. In anotherembodiment, the robotic surgical system includes a display deviceconfigured to display a modified image of the end effector and the shaftsuch that the modified image indicates the one or more regions having atemperature at or above the predetermined threshold temperature. In oneconfiguration, the one or more regions are represented by a distinctcolor.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be more fully understood from the following detaileddescription taken in conjunction with the accompanying drawings, inwhich:

FIG. 1 illustrates a perspective view of an embodiment of a surgicalrobotic system that includes a patient-side portion and a user-sideportion;

FIG. 2 illustrates a schematic view of a hot device indication system;

FIG. 3 illustrates a schematic view of a detector in a camera module inthe surgical robotic system;

FIG. 4 illustrates a surgical instrument positioned in a field havingmultiple markers;

FIG. 5 illustrates a modified image of the surgical instrument thathighlights regions of the surgical instrument above a predeterminedtemperature;

FIG. 6 illustrates a flowchart describing a method of creating amodified image of a surgical instrument to indicate the instrument'sstatus;

FIG. 7 illustrates the visual image, the infrared image and thesuperimposed image described in FIG. 6.

FIG. 8 is a schematic illustration of a computer system configured togenerate a plurality of command signals for use with the control systemdescribed herein.

DETAILED DESCRIPTION

Certain exemplary embodiments will now be described to provide anoverall understanding of the principles of the structure, function,manufacture, and use of the devices and methods disclosed herein. One ormore examples of these embodiments are illustrated in the accompanyingdrawings. Those skilled in the art will understand that the devices andmethods specifically described herein and illustrated in theaccompanying drawings are non-limiting exemplary embodiments and thatthe scope of the present invention is defined solely by the claims. Thefeatures illustrated or described in connection with one exemplaryembodiment may be combined with the features of other embodiments. Suchmodifications and variations are intended to be included within thescope of the present invention.

Further, in the present disclosure, like-named components of theembodiments generally have similar features, and thus within aparticular embodiment each feature of each like-named component is notnecessarily fully elaborated upon. Additionally, to the extent thatlinear or circular dimensions are used in the description of thedisclosed systems, devices, and methods, such dimensions are notintended to limit the types of shapes that can be used in conjunctionwith such systems, devices, and methods. A person skilled in the artwill recognize that an equivalent to such linear and circular dimensionscan easily be determined for any geometric shape. Sizes and shapes ofthe systems and devices, and the components thereof, can depend at leaston the anatomy of the subject in which the systems and devices will beused, the size and shape of components with which the systems anddevices will be used, and the methods and procedures in which thesystems and devices will be used.

The systems, devices, and methods disclosed herein can be implementedusing a robotic surgical system. WIPO Patent Publication No. WO2014/151621 filed on Mar. 13, 2014 and entitled “Hyperdexterous SurgicalSystem” is incorporated by reference.

In general, a surgical system is described that allows a user (e.g., asurgeon) to monitor and display the status of a surgical instrument inreal-time. In particular, the monitored and displayed status can relateto temperature. Some surgical instruments treat tissue using anultrasonic energy source and/or a radio frequency energy source intoheat energy. For an ultrasonic device, it is the friction between thetissue and the oscillating blade that generates the heat that achievesthe desired sealing/cutting effect. For an RF device, heat is generatedas energy is passed through the tissue. In the course of treating tissueheat is transferred from the tissue to the jaws of the device.Regardless of whether ultrasonic or RF devices are used, the heating ofthe instrument is generally undesirable because after completing a sealthe surgeon may sometimes use the instrument as a type of grasper tomanipulate tissue. If the jaws are still hot from the last tissuetreatment, tissue may be inadvertently damaged while the jaws are usedto manipulate tissue or otherwise contact tissue. It is thus useful fora surgeon to understand at any given time the relative temperature ofthe components of a surgical instrument that will be used to contacttissue. In particular, it is important for the surgeon to understandwhether the instrument is too hot and what parts of the instrument areabove or below a desired temperature. If the surgical instrumentachieves or exceeds a desired temperature, i.e., the temperature of theportion of the surgical instrument achieves or exceeds a thresholdvalue, the tissue that is contacted with the surgical instrument (fortreatment or otherwise) can be damaged.

During a minimally invasive procedure, or any surgical procedure inwhich the surgical instrument is outside of the surgeon's natural fieldof view, an image of the surgical environment as well as relevantportions of the surgical instrument is typically generated and displayedto the surgeon, such as on a video monitor. Such an image is typicallydisplayed in real-time. In aspects of the system described herein, theimage of the surgical instrument is modified to display informationregarding its status. In one embodiment, the status is the temperatureand/or temperature range of relevant portions of the surgical instrumentthat will be in contact with the tissue. The status (e.g., temperature)information can be displayed at all times, or only when the temperatureexceeds a threshold temperature (e.g., 50° C.). The temperatureinformation can displayed as a value and/or by an indication of value.In one example, portions of the surgical instrument that exceed thethreshold temperature can be displayed by highlighting in a certaincolor (e.g., red), or by using other indicators.

The temperature distribution of the surgical instrument can be obtainedusing thermal imaging techniques in which the temperature of a surgicalinstrument can be determined by capturing the infrared radiation emittedby the object. In particular, an infrared camera can be positioned so asto image a surgical site (e.g., one or more of target tissues, tissuessurrounding the target tissue, surgical instrument, etc.). The infraredcamera captures radiation and sends this information to a processor. Theprocessor also receives information related to the reflected-light imageof the surgical site from the visible-light camera. The processorgenerates a modified image by identifying the surgical instrument fromthe reflected-light image, and superimposing on the image of thesurgical instrument a visual representation of the infrared radiation.Thus, the image displayed to the surgeon in real time will indicateportions of the surgical instrument that exceed a threshold value. Forexample, in one embodiment, portions of the surgical instrument above apredetermined threshold temperature (e.g., 50° C.) can be highlighted ina predetermined color (e.g., red) or otherwise indicated. In anotherembodiment, a range of temperatures can be associated with a spectrum ofcolors or symbols, and regions of the surgical instrument can behighlighted by a color or a symbol that corresponds to the associatedtemperature. Similarly, the modified image can display an image of thesurgical instrument without any status (e.g., temperature) indicia whenthe temperature is below a predetermined value. Because the modifiedimage includes real-time temperature distribution information of thesurgical instrument, the surgeon can take appropriate steps to minimizedamage of abdominal cavity due to excessive heating of the surgicalinstrument.

FIG. 1 is a perspective view of one embodiment of a surgical roboticsystem 100 that can be used in telesurgery. The system 100 includes apatient-side portion 110 that is positioned. adjacent to a patient 112,and a user-side portion 111 that is located a distance from the patient,either in the same room and/or in a remote location. The patient-sideportion 110 generally includes one or more robotic arms 120 and one ormore tool assemblies 130 that are configured to releasably couple to arobotic arm 120. The user-side portion 111 generally includes a visionsystem 113 for viewing the patient 112 and/or surgical site, and acontrol system 115 for controlling the movement of the robotic arms 120and each tool assembly 130 during a surgical procedure.

The control system 115 can have a variety of configurations and it canbe located. adjacent to the patient, e.g., in the operating room, remotefrom the patient, e.g., in a separate control room, or it can bedistributed at two or more locations. As an example of a dedicatedsystem, a dedicated system control console can be located in theoperating room, and a separate console can be located at a remotelocation. The control system 115 can include components that enable auser to view a surgical site of a patient 112 being operated on by thepatient-side portion 110 and/or to control one or more parts of thepatient-side portion 110 (e.g., to perform a surgical procedure at thesurgical site 112). In some embodiments, the control system 115 can alsoinclude one or more manually-operated input devices, such as a joystick,exoskeletal glove, a powered and gravity-compensated manipulator, or thelike. These input devices can control teleoperated motors which, inturn, control the movement of the surgical system, including the roboticarms 120 and tool assemblies 130.

The patient-side portion can also have a variety of configurations. Asdepicted in FIG. 1, the patient-side portion 110 can couple to anoperating table 114. However, in other embodiments, the patient-sideportion 110 can be mounted to a wall, to the ceiling, to the floor, orto other operating room equipment. Further, while the patient-sideportion 110 is shown as including two robotic arms 120, more or fewerrobotic arms 120 can be included. Furthermore, the patient-side portion110 can include separate robotic arms 120 mounted in various positions,such as relative to the operating table 114. Alternatively, thepatient-side portion 110 can include a single assembly that includes oneor more robotic arms 120 extending therefrom.

FIG. 2 is a schematic view of an example of surgical system 200configured to generate modified images of a surgical site (e.g.,surgical instrument 204, target tissues, tissues surrounding targettissues, etc.) in real-time. The surgical system 200 includes a cameramodule 210 configured to capture visible-light and infrared images ofthe surgical instrument 204, and relay one or more signals related tocaptured images to a processor 216. The signals can be relayed to theprocessor 216 wirelessly (Bluetooth, WiFi, etc.) or through a data cable(e.g., optical fiber, coaxial cable, etc.). The processor 216 cangenerate a modified image based on the captured images and informationstored in the database 218. The modified image can be displayed, forexample, to a surgeon, on a display 222.

A light source (not shown) can generate light which is reflected by thesurgical site. A portion of the reflected visible-light (e.g., having awavelength of about 400 nm to 800 nm) is captured by the camera module210. The camera module 210 comprises a lens 206 configured to focusvisible light and infrared radiation (collectively hereinafter referredto as “aggregate radiation”) onto a first detector 212 and a seconddetector 214. The camera module 210 also includes an optical system 208configured to direct a first part of the radiation to a first detector212, and a second part of the aggregate radiation second detector 214.The quality of the visible-light and infrared image can be improved, forexample, by placing detectors 212 and 214 in the focal plane of the lens206. In one example the lens 206 is made of a material (e.g., germanium)that does not substantially absorb visible-light and infrared radiation.

The generator 202 is configured to generate a signal that drives thesurgical instrument. For example, the signal may drive an ultrasonictransducer in the surgical instrument and/or generate radio frequencyenergy which the surgical instrument can deliver to a tissue through anenergy-delivering end effector. As a result of its energy-deliveringfunctionality, the surgical instrument typically heats up and radiates abroad spectrum of electromagnetic radiation during use. The shape of thespectrum is related to the temperature of the surgical instrument. Fortemperatures below about 1000° C. the electromagnetic radiationprimarily includes infrared radiation. A portion of the infraredradiation generated by the surgical instrument is captured by the cameramodule 210. Infrared radiation can be categorized based on wavelength:near-infrared (NIR) (approximately 700-1400 nm), short-wavelengthinfrared (SWIR) (approximately 1400 nm-3 microns), mid-wavelengthinfrared (MWIR) (approximately 3-8 microns), long-wavelength infrared(LWIR) (approximately 8-15 microns), and far-infrared (FIR)(approximately 15-1000 microns).

The processor 216 receives a second signal—either directly from thesurgical instrument 204 or from another device that is in communicationwith the surgical instrument—that includes information related to theidentity of the surgical instrument, operational parameters of thesurgical instrument, etc. Once the processor 216 has identified thesurgical instrument, it can access various information associated withthe surgical instrument 204 that may be stored in the database 218. Thisinformation may be used in generating the modified image of the surgicalinstrument 204, which can be displayed on a display 222. An operator cancommunicate with the processor 216 through an input device 224 (e.g.,keyboard, mouse, joystick, etc.). For example, the operator can interact(e.g., zoom in, zoom out, mark up, etc.) with an image using the inputdevice 224. Additionally or alternately, the operator may choose to viewthe visible-light/infrared image of the surgical instrument 204,operational parameters associated with the surgical instrument 204 andcamera module 210, etc.

As noted above, the optical system 208 receives aggregate radiation fromthe surgical site, and directs a first portion of the aggregateradiation to the first detector 212, and directs a second portion of theaggregate radiation to the second detector 214. In one embodiment, theoptical system 208 can be a beam splitter cube that reflects the firstportion of the aggregate radiation, and transmits the second portion tothe aggregate radiation. An exemplary beam splitter cube can be in theform of two triangular prisms that are joined together along theirrespective edges, such as by a transparent resin. The aggregateradiation travels through the first triangular prism and impinges on thetransparent resin. The first portion of the aggregate radiation isreflected by the transparent resin while the second portion of theaggregate radiation is transmitted to the second triangular prism. Thethickness of the transparent resin determines the ratio of the intensitybetween the reflected first portion and the transmitted second portionof the aggregate radiation. In other embodiments, the beam splitter caninclude dielectric mirrors, half-silvered mirror, etc.

The detectors 212 and 214 are able to detect the first and secondportions of the aggregate radiation, respectively. As shown in FIG. 3,an exemplary detector 212 comprises an array of photosensitive sites(e.g., 212 a-c, etc.), which can absorb electromagnetic radiationimpinging on the site, and generate an electrical signal (e.g., voltagesignal, current signal, etc.) that is representative of theelectromagnetic radiation impinging on the photosensitive site. Forexample, the strength of the electrical signal can be proportional tothe intensity of the impinged electromagnetic radiation. Photosensitivesites typically have a spectral range which determines the range offrequencies that can be efficiently detected by the site. For example, asilicon (Si) photosensitive site can detect visible to near infraredradiation (spectral range 400-1000 nm), and a germanium (Ge) or indiumgallium arsenide (InGaAs) photosensitive site can detect near infraredradiation (spectral range 800-2600 nm), and a Mercury-cadmium-telluride(HgCdTe) photosensitive site can detect light having a wavelength in therange of 800-2500 nm. It is understood that a suitable type ofphotosensitive site that is appropriate for the spectral range of theelectromagnetic radiation to be detected can be selected.

A photosensitive site can be configured to detect a desired wavelength(or a narrow range of wavelength around the desired wavelength) ofelectromagnetic radiation that lies within its spectral range by usingan optical filter. The optical filter, which is placed in the path ofthe electromagnetic radiation directed towards the photosensitive site,filters out all radiation except for that corresponding to the desiredwavelength. For example, a Si photosensitive site (e.g., 212 a) with anNIR filter will primarily detect radiation with near infraredwavelengths even though its spectral range includes visible-light.Alternately, if a green color filter is used, the photosensitive sitewill primarily detect green light (approximately 500 nm).

In one example a detector (e.g., detectors 212 and 214) detects an imageof the surgical site by combining the images of different regions of theobject captured by various photosensitive sites in the detector. Whenthe first portion of the aggregate radiation impinges on the detector212, a photosensitive site therein (e.g., 212 a, 212 b, 212 c, etc.)detects a part of the first portion of aggregate radiation thatrepresents an image of a region of the surgical instrument. Thephotosensitive site then generates an electrical signal that isrepresentative of the captured image. This electrical signal isconverted to a digital signal by an analog-to-digital converter (ADC).The digital signal has discretized values that represent, for example,the intensity of the detected radiation. As will be described below, thedigital signal can also include information related to the frequency(color) of the detected radiation. The values of the digital signalsfrom the various photosensitive sites (collectively referred to as animage dataset) are representative of the image of the surgicalinstrument. There can be a one-to-one relationship between a digitalsignal value stored in the image dataset and the photosensitive sitethat has produced the digital signal value (e.g., the digital signalvalue can include information that identifies photosensitive site thathas generated the digital signal). Therefore, by identifying a digitalsignal value in the image dataset one can identify the photosensitivesite that generated the digital value (or vice-versa). The processorthen generates the image of the surgical site from the image datasetthat can be displayed on a display device 222 (e.g., a monitor). Eachpixel in the display device can represent one digital signal value inthe image dataset. In other words, each pixel in the display device canrepresent the radiation detected by a unique photosensitive site in thedetector 212.

A colored image of a surgical site can be generated by placing opticalfilters (or an array of optical filters) in the path of theelectromagnetic radiation directed towards a detector. For example, anarray of color filters (e.g., Bayer filter, RGBE filter, CYYM filter,CYGM filter, etc.) can be placed before an array of photosensitivesites. As a result, each photosensitive site receives electromagneticradiation of a particular wavelength (or color). For example, for aBayer filter, each photosensitive site detects one of red, blue or greencolor. The processor can use a demosaicing algorithm to process an imagedataset obtained using a Bayer filter to generate a “full-color” image(i.e., an image with multiple colors).

As illustrated in FIG. 2, the optical system 208 directs a first portionof the aggregate radiation to the first detector 212, and a secondportion of the aggregate radiation to the second detector 214. If avisible-light optical filter is placed before the first detector 212, itwill detect a visible-light image of the surgical site. As a result, avisible-light image dataset is generated (as described above) andtransmitted to the processor 216. The visible-light image dataset caninclude information related to the intensity and wavelength (color) ofthe detected visible-light for each photosensitive site. As describedabove, the color of the detected visible-light depends on the opticalfilter. If an infrared optical filter is placed before the seconddetector 214, it will detect an infrared image of the surgical site.Based on this detection, an infrared image dataset is generated (asdescribed above) and transmitted to the processor 216.

The processor can identify data related to the image of surgicalinstrument from the visible-light image dataset. In one embodiment, thedata is identified based on a predetermined relative position betweenthe first detector 212 and the surgical instrument 204. In thisembodiment, the camera module 210 is attached to the surgical instrumentsuch that the relative position of the surgical instrument with respectto the camera module 210 remains fixed. This can be done, for example,by having a mounting feature on the surgical instrument to which thecamera module 210 can be removably attached. Devices (detectors 212 and214, prism 208, lens 206, etc.) inside the camera module 210 can bepositioned in a predetermined configuration. Alternately, the devicescan be attached to piezoelectric actuators that allow them to moverelative to one another. This can allow the detectors (212 and 214) todetect a sharp image of the surgical instrument. For example, it can bedesirable to place the detectors (212 and 214) in the focal plane of thelens 206. Mechanical movements and thermal expansion of the cameramodule 210 and the devices therein can move the detectors out of thefocal plane of the lens. The detectors can be adjusted back into thefocal plane by the piezoelectric actuators that can be controlled by theprocessor 216, or by an input from a user. The input from the user canbe communicated to the camera module 210 using wireless short-rangecommunication (e.g., bluetooth). The surgical instrument 204 and thecamera module 210 (and the devices inside the camera module) can beadjusted to a desired predetermined position prior to the insertion ofcamera module 210 and surgical instrument 204 in the surgical site. Thephotosensitive sites (in detectors 212 and 214) that capture the imageof the surgical instrument 204 can be identified based on thepredetermined orientation of the detectors (e.g., 212 and 214) and thesurgical instrument. Information related to the location of theaforementioned photosensitive sites can be stored in the database 218.The processor 216 can identify surgical instrument image data in thevisible-light image dataset. This can be done, for example, by arrangingthe image data, captured by the photosensitive sites, in a predeterminedpattern in the visible-light image. For example, the image data capturedby the photosensitive site 212 a can be placed at a predeterminedlocation in the visible-light dataset. Information about thisrelationship can be stored in an index data file in the database 218.Based on the index data file, the processor 216 can identify the imagedata (from the visible-image dataset) corresponding to the imagedetected by the photosensitive site 212 a. Alternately, the image datacan include information that identifies the photosensitive site thatgenerated it. Similarly, processor 216 can identify data related to thesurgical instrument in the infrared image dataset.

In another embodiment, the surgical instrument is identified in thevisible-light image based on one or more markers on the surgicalinstrument 204, and multiple cameras 410, 412, 414, 416 are used toimage the surgical site. As shown in FIG. 4, the surgical instrument 204includes a number of markers 402, 404, 406, 408 located on its surface.In one embodiment the markers are regions on the surgical instrument 204that reflect electromagnetic radiation of a given frequency. Forexample, the markers can be configured to reflect visible-light of acertain color. The color of the markers can be selected such that thecolor is not naturally present in the surgical site (e.g., green, blue,etc.). The processor thus identifies photosensitive sites that detectthe image of the markers based on marker color. As described above, thevisible-light image dataset can include, for each photosensitive site,information related to the color of the detected visible-light. Theprocessor can search in the visible-light image dataset for datarepresentative of the color of the marker. The processor 216 identifiesthe markers 402, 404, 406, 408 (and therefore the relative positions ofthe markers) in the visible-light image and compares this informationwith data from a database of surgical instruments stored in the database218. The database includes information related to marker color andmarker position for various surgical instruments. Additionally, for agiven surgical instrument, the database may include information relatedto the relative position of the makers in an image of the surgicalinstruments from multiple viewpoints. For example, the relativepositions of the markers 402, 404, 406, 408 in the image of the surgicalinstrument 204 in the embodiment of FIG. 4 will depend on the relativeposition of the camera (e.g., 410, 412, 414, 416) that captures theimage.

The processor can use an image recognition algorithm to identify thedata in the visible-light dataset that represents the image of thesurgical instrument. In one example the image recognition algorithmreceives input information related to the position of the markers in thecaptured image, and information related to various surgical instrumentsstored in the database 218. The processor compares the relativepositions of markers in the captured image with the orientationinformation of markers of the devices in the database by using variouspattern recognition techniques. Based on this comparison, the processorcan identify data representative of image of the surgical instrument 204in the visible-image dataset. It is understood that the markers maycomprise a geometric shape and/or color, either as something that isapplied to the device (for example green dots) or could as somethingthat is inherent to a type of device (e.g., silver straight jaws andblacked shaft).

In this embodiment, the first detector 212 and the second detector 214can have a predetermined relative orientation. The photosensitive sitesin the second detector that capture the image of the surgical instrumentcan be determined based on the knowledge of the photosensitive sites inthe first detector that capture the image of the surgical instrument.Once the photosensitive sites in the second detector 214 that capturethe image of the surgical instrument are identified, the processor 216can identify data related to surgical instrument image in the infraredimage dataset.

The processor is configured to calculate the temperature of variousregions of the surgical instrument based on the captured infrared image.The temperature of an object is related to the amount of infraredradiation emitted by the object. An object at a given temperature emitsa spectrum of electromagnetic radiation (referred to as black-bodyradiation). For example, the surgical instrument 204 at an operationaltemperature (e.g. 50° C.) emits a spectrum of infrared radiation. Thefrequency of the infrared spectrum is related to the temperature of anobject by an emissivity parameter, which is inherent to the material(s)from which the surgical instrument is made. The known emissivityparameter values for a given surgical instrument, and informationrelated to the location of the corresponding regions on the surgicalinstrument, are stored in the database 218. The processor 216 is thusable to calculate the temperature of a region on the surgical instrumentbased on the amount of detected infrared radiation from the region andthe emissivity parameter associated with the region. The intensity ofthe radiation is then converted into an electrical signal. That is, asmore radiation excites the sensor to a greater extent, the processorequates the greater electrical signal received from the sensor into ahigher temperature.

The processor 216 can assign colors to the various regions of thesurgical device based on the detected temperature of the region. Forexample, the processor can assign a red color to the regions of thesurgical device that are at or above 50° C., and another color (e.g.,white or green) is assigned to regions of the surgical device that arebelow 50° C. The processor can generate a modified image of the surgicalinstrument in which the assigned colors are superimposed onvisible-light image of the surgical device. For example, in the modifiedimage, which can be displayed on the display 222, the regions of thesurgical instrument that are at or above a predetermined temperature arehighlighted with a predetermined color (e.g., red). It is understoodthat in addition to or as an alternative to the use of colors to denotetemperature, other symbols or indicia can be used. For example, icons orshapes (e.g., “stars”, “*”, “+”, or “!”.) may be overlaid on the image.In addition, or alternatively, brightness may be increased to nearwhite, or dynamic color shifting or animation of pixels (e.g., pulsingbetween natural color and alternate color.) may be utilized.

FIG. 5 illustrates a modified image of an advanced bipolar vessel sealerdevice in a surgical site. In this depiction the jaws of the endocutterare above 50° C. and thus include indicia (i.e., highlighting) toindicate to the surgeon that the jaws are at or above a thresholdtemperature. As a result, a surgeon viewing the modified image in realtime during a surgical procedure is immediately aware of the regions ofthe surgical instrument that are at or above the threshold temperatureand potentially able to damage tissue.

FIG. 6 illustrates a flowchart depicting a method of creating a modifiedimage of a surgical instrument to indicate the instrument's status(e.g., temperature). The camera module begins capturing a series ofimages (step 602) of the surgical site (for example, a video). Theseimages include both visible-light images and infrared images. Thegenerator 202 activates the surgical instrument (step 604) and the endeffector of the surgical device heats up and emits infrared radiation(step 606). The processor 216 analyzes the captured infrared image todetect regions of the surgical instrument that are at or above thepredetermined threshold temperature (step 608). At the same time, theprocessor 216 analyzes the captured visible-light image to identify theimage of the surgical device (step 610). The processor 216 thengenerates a modified image of the surgical instrument by altering thevisible-light image (step 612). For example, regions of the surgicalinstrument above the threshold temperature include indicia (e.g., theyare highlighted in red color) to indicate regions of the surgical deviceat or above the threshold temperature. The series of modified capturedimages are then displayed on a display device (e.g., a wall or tablemounted display or a display that is part of an accessory, such as ahead set, worn by a surgeon) to be monitored by the surgeon (step 614).

FIG. 7 schematically illustrates examples of the infrared image 702 andthe visible-light image 706 of the surgical instrument captured by thecamera module 210. The processor identifies the surgical instrument fromthe visible-light image 706 and generates a filtered infrared image 704.The processor then generates a modified image 710, which is asuperposition of the filtered infrared image 704 and the visible-lightimage 706.

One or more aspects or features of the subject matter described hereincan be realized in digital electronic circuitry, integrated circuitry,specially designed application specific integrated circuits (ASICs),field programmable gate arrays (FPGAs) computer hardware, firmware,software, and/or combinations thereof. These various aspects or featurescan include implementation in one or more computer programs that areexecutable and/or interpretable on a programmable system including atleast one programmable processor, which can be special or generalpurpose, coupled to receive data and instructions from, and to transmitdata and instructions to, a storage system, at least one input device,and at least one output device. The programmable system or computersystem may include clients and servers. A client and server aregenerally remote from each other and typically interact through acommunication network. The relationship of client and server arises byvirtue of computer programs running on the respective computers andhaving a client-server relationship to each other.

The computer programs, which can also be referred to as programs,software, software applications, applications, components, or code,include machine instructions for a programmable processor, and can beimplemented in a high-level procedural language, an object-orientedprogramming language, a functional programming language, a logicalprogramming language, and/or in assembly/machine language. As usedherein, the term “machine-readable medium” refers to any computerprogram product, apparatus and/or device, such as for example magneticdiscs, optical disks, memory, and Programmable Logic Devices (PLDs),used to provide machine instructions and/or data to a programmableprocessor, including a machine-readable medium that receives machineinstructions as a machine-readable signal. The term “machine-readablesignal” refers to any signal used to provide machine instructions and/ordata to a programmable processor. The machine-readable medium can storesuch machine instructions non-transitorily, such as for example as woulda non-transient solid-state memory or a magnetic hard drive or anyequivalent storage medium. The machine-readable medium can alternativelyor additionally store such machine instructions in a transient manner,such as for example as would a processor cache or other random accessmemory associated with one or more physical processor cores.

To provide for interaction with a user, one or more aspects or featuresof the subject matter described herein can be implemented on a computerhaving a display device, such as for example a cathode ray tube (CRT) ora liquid crystal display (LCD) or a light emitting diode (LED) monitorfor displaying information to a user and a keyboard and a pointingdevice, e.g., a mouse, a trackball, etc., by which a user may provideinput to the computer. Other kinds of devices can be used to provide forinteraction with a user as well. For example, feedback provided to auser can be any form of sensory feedback, such as for example visualfeedback, auditory feedback, or tactile feedback; and input from a usermay be received in any form, including, but not limited to, acoustic,speech, or tactile input. Other possible input devices include, but arenot limited to, touch screens or other touch-sensitive devices such assingle or multi-point resistive or capacitive trackpads, voicerecognition hardware and software, optical scanners, optical pointers,digital image capture devices and associated interpretation software,and the like.

FIG. 8 illustrates an exemplary embodiment of a computer system 800. Asshown, the computer system 800 includes one or more processors 802 whichcan control the operation of the computer system 800. “Processors” arealso referred to herein as “controllers.” The processor(s) 802 caninclude any type of microprocessor or central processing unit (CPU),including programmable general-purpose or special-purposemicroprocessors and/or any one of a variety of proprietary orcommercially available single or multi-processor systems. The computersystem 800 can also include one or more memories 804, which can providetemporary storage for code to be executed by the processor(s) 802 or fordata acquired from one or more users, storage devices, and/or databases.The memory 804 can include read-only memory (ROM), flash memory, one ormore varieties of random access memory (RAM) (e.g., static RAM (SRAM),dynamic RAM (DRAM), or synchronous DRAM (SDRAM)), and/or a combinationof memory technologies.

The various elements of the computer system 800 can be coupled to a bussystem 812. The illustrated bus system 812 is an abstraction thatrepresents any one or more separate physical busses, communicationlines/interfaces, and/or multi-drop or point-to-point connections,connected by appropriate bridges, adapters, and/or controllers. Thecomputer system 800 can also include one or more network interface(s)806, one or more input/output (IO) interface(s) 808, and one or morestorage device(s) 810.

The network interface(s) 806 can enable the computer system 800 tocommunicate with remote devices, e.g., other computer systems, over anetwork, and can be, for non-limiting example, remote desktop connectioninterfaces, Ethernet adapters, and/or other local area network (LAN)adapters. The IO interface(s) 808 can include one or more interfacecomponents to connect the computer system 800 with other electronicequipment. For non-limiting example, the IO interface(s) 808 can includehigh speed data ports, such as universal serial bus (USB) ports, 1394ports, Wi-Fi, Bluetooth, etc. Additionally, the computer system 800 canbe accessible to a human user, and thus the IO interface(s) 808 caninclude displays, speakers, keyboards, pointing devices, and/or variousother video, audio, or alphanumeric interfaces. The storage device(s)810 can include any conventional medium for storing data in anon-volatile and/or non-transient manner. The storage device(s) 810 canthus hold data and/or instructions in a persistent state, i.e., thevalue(s) are retained despite interruption of power to the computersystem 800. The storage device(s) 810 can include one or more hard diskdrives, flash drives, USB drives, optical drives, various media cards,diskettes, compact discs, and/or any combination thereof and can bedirectly connected to the computer system 800 or remotely connectedthereto, such as over a network. In an exemplary embodiment, the storagedevice(s) can include a tangible or non-transitory computer readablemedium configured to store data, e.g., a hard disk drive, a flash drive,a USB drive, an optical drive, a media card, a diskette, a compact disc,etc.

The elements illustrated in FIG. 8 can be some or all of the elements ofa single physical machine. In addition, not all of the illustratedelements need to be located on or in the same physical machine.Exemplary computer systems include conventional desktop computers,workstations, minicomputers, laptop computers, tablet computers,personal digital assistants (PDAs), mobile phones, and the like.

The computer system 800 can include a web browser for retrieving webpages or other markup language streams, presenting those pages and/orstreams (visually, aurally, or otherwise), executing scripts, controlsand other code on those pages/streams, accepting user input with respectto those pages/streams (e.g., for purposes of completing input fields),issuing HyperText Transfer Protocol (HTTP) requests with respect tothose pages/streams or otherwise (e.g., for submitting to a serverinformation from the completed input fields), and so forth. The webpages or other markup language can be in HyperText Markup Language(HTML) or other conventional forms, including embedded Extensible MarkupLanguage (XML), scripts, controls, and so forth. The computer system 800can also include a web server for generating and/or delivering the webpages to client computer systems.

In an exemplary embodiment, the computer system 800 can be provided as asingle unit, e.g., as a single server, as a single tower, containedwithin a single housing, etc. The single unit can be modular such thatvarious aspects thereof can be swapped in and out as needed for, e.g.,upgrade, replacement, maintenance, etc., without interruptingfunctionality of any other aspects of the system. The single unit canthus also be scalable with the ability to be added to as additionalmodules and/or additional functionality of existing modules are desiredand/or improved upon.

A computer system can also include any of a variety of other softwareand/or hardware components, including by way of non-limiting example,operating systems and database management systems. Although an exemplarycomputer system is depicted and described herein, it will be appreciatedthat this is for sake of generality and convenience. In otherembodiments, the computer system may differ in architecture andoperation from that shown and described here.

Preferably, components of the invention described herein will beprocessed before use. First, a new or used instrument is obtained and ifnecessary cleaned. The instrument can then be sterilized. In onesterilization technique, the instrument is placed in a closed and sealedcontainer, such as a plastic or TYVEK bag. The container and instrumentare then placed in a field of radiation that can penetrate thecontainer, such as gamma radiation, x-rays, or high energy electrons.The radiation kills bacteria on the instrument and in the container. Thesterilized instrument can then be stored in the sterile container. Thesealed container keeps the instrument sterile until it is opened in themedical facility.

Typically, the device is sterilized. This can be done by any number ofways known to those skilled in the art including beta or gammaradiation, ethylene oxide, steam, and a liquid bath (e.g., cold soak).An exemplary embodiment of sterilizing a device including internalcircuitry is described in more detail in U.S. Pat. No. 8,114,345 filedFeb. 8, 2008 and entitled “System And Method Of Sterilizing AnImplantable Medical Device.” It is preferred that device, if implanted,is hermetically sealed. This can be done by any number of ways known tothose skilled in the art.

One skilled in the art will appreciate further features and advantagesof the invention based on the above-described embodiments. Accordingly,the invention is not to be limited by what has been particularly shownand described, except as indicated by the appended claims. Allpublications and references cited herein are expressly incorporatedherein by reference in their entirety.

What is claimed is:
 1. A robotic surgical system, comprising: a roboticarm; a tool assembly removably coupled to the robotic arm and comprisinga shaft extending distally from a housing and an end effector coupled toa distal end of the shaft, the end effector being configured to deliverenergy to tissue for the treatment thereof; a camera system configuredto capture visible light reflected by at least one of the end effectorand the shaft and to capture infrared light produced by at least one ofthe end effector and the shaft; and a processor configured to receivesignals representative of the visible and the infrared light and toidentify one or more regions of the end effector and the shaft having atemperature in excess of a predetermined threshold temperature.
 2. Thesystem of claim 1, comprising a display device configured to display amodified image of the end effector and the shaft such that the modifiedimage indicates the one or more regions having a temperature at or abovethe predetermined threshold temperature.
 3. The system of claim 2,wherein the one or more regions are represented by a distinct color. 4.A robotic surgical system, comprising: a robotic arm; a tool assemblyremovably coupled to the robotic arm and comprising a shaft extendingdistally from a housing and an end effector coupled to the shaft, theend effector configured to deliver energy to a tissue for the treatmentthereof; a camera system configured to capture visible light reflectedby at least one of the end effector and the shaft and to captureinfrared radiation produced by the at least one of the end effector andthe shaft; and a processor configured to: receive a first signalrepresentative of the visible light and a second signal representativeof the infrared radiation, identify, from the first signal, datarepresentative of the at least one of the end effector and the shaft,identify, from the second signal, data representative of one or moreregions of the end effector and the shaft above a predeterminedthreshold temperature; and generate a modified image of the at least oneof the end effector and the shaft based on data identified from thefirst and the second signal, the modified image including visibleindicia in the one or more regions of the surgical instrument at orabove the predetermined temperature.
 5. The robotic system of claim 4,wherein the camera system includes an optical element configured todirect visible light to a first detector comprising a first array ofpixels configured to detect visible light, and direct infrared radiationto a second detector comprising a second array of pixels configured todetect infrared radiation.
 6. The robotic system of claim 5, furthercomprising a visible-light optical filter downstream from the opticalelement and upstream from the first detector.
 7. The robotic system ofclaim 5, further comprising an infrared optical filter downstream fromthe optical element and upstream from the second detector.
 8. Therobotic system of claim 4, wherein the processor is configured toidentify data representative of the at least one of the end effector andthe shaft based on position of the first detector with respect to the atleast one of the end effector and the shaft.
 9. The robotic system ofclaim 8, wherein the processor is configured to determine orientation ofthe at least one of the end effector and the shaft based on theidentified data representative of the at least one of the end effectorand the shaft and a database of one or more end effectors stored inmemory.
 10. The robotic system of claim 4, wherein the at least one ofthe end effector and the shaft include one or more markers, each of theone or more markers configured to reflect a predetermined frequency oflight.
 11. The robotic system of claim 4, wherein the processor isconfigured to identify from the second signal data representative of theone or more regions of the end effector and the shaft above thepredetermined threshold temperature based on the frequency of theinfrared radiation.
 12. The robotic system of claim 4, wherein theprocessor is configured to identify from the second signal datarepresentative of the one or more regions of the end effector and theshaft above the predetermined threshold temperature based on thefrequency of the infrared radiation.
 13. The robotic system of claim 4,comprising a display device configured to display a modified image ofthe end effector and the shaft such that the modified image indicatesthe one or more regions having a temperature at or above thepredetermined threshold temperature.
 14. The robotic system of claim 12,wherein the one or more regions are represented by a distinct color. 15.The robotic system of claim 4, wherein the end effector is configured todeliver at least one of ultrasonic energy and radio frequency energy toa tissue.
 16. A surgical method, comprising: detecting an image of asurgical instrument during a surgical procedure that involves deliveryof energy to a tissue; detecting an infrared image of the surgicalinstrument during the surgical procedure; processing the image of thesurgical instrument to identify the surgical instrument and the infraredimage to identify one or more regions of the surgical instrument above apredetermined threshold temperature; displaying a modified image thatindicates the one or more regions of the surgical instrument.